Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1985-02-14
1986-09-23
Dobeck, B.
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
318587, 364513, G05B 1942
Patent
active
046138030
ABSTRACT:
A self-traveling robot system capable of being automatically positioned with respect to a workpiece including a robot for work on a continuous object, a truck for moving the robot along the continuous object, a distance detection mechanism mounted to the robot for detecting a distance between the robot and the continuous object, a deviation detecting circuit for comparing the distance as detected by the distance detection mechanism with a predetermined value and detecting a deviation between the distance and the predetermined value, and a travel path correcting mechanism for correcting an advance direction of the truck according to the deviation. A method of positioning the self-traveling robot system with respect to the workpiece is also disclosed, which includes the steps of (a) driving a robot which has stopped at a working position and detecting distances between a swiveling table and two measuring points on the workpiece; (b) calculating a tilt angle (.theta.) of the swiveling table relative to the workpiece and a deflection amount (l) from the swiveling table to a reference travel path on which the robot is to be normally traveled according to data obtained regarding the distance; (c) extending outriggers to separate the truck from a floor, and then rotating the truck at a right angle to the workpiece; (d) contracting the outriggers after step (c) to bring the truck into contact with the floor, and then rotating the swiveling table to a position parallel to the workpiece; (e) moving the truck by the deflection amount (l) to register a center of the truck with the reference travel path; and (f) extending the outriggers to separate the truck from the floor, then rotating the truck to a position parallel to the workpiece, and further contracting the outriggers.
REFERENCES:
patent: 4119900 (1978-10-01), Kremnitz
patent: 4125943 (1978-11-01), Ando
patent: 4344498 (1982-08-01), Lindfors
patent: 4465155 (1984-08-01), Collins
patent: 4500970 (1985-02-01), Daemmer
patent: 4536690 (1985-08-01), Belsterling et al.
Hasegawa Kiyoshi
Hashimoto Hideki
Matsuo Hisashi
Dobeck B.
Kabushiki Kaisha Kobe Seiko Sho
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